%% Returns the value of the requested parameter.
function param = getrobotparameter(param_name)

% Fred's parameters
% a = [       0,         0,         0,         0, 1.196890
%      0.202147,   7.84037,  0.224832, -0.806976, 0.187128
%     -0.082826,  13.31600,  0.207294,  4.154820, 0.257379
%     -0.380854, -10.97950, -0.196655, -0.421415, 0.658453];


% a = [0.0000    0.0000    0.0000    0.0000    1.3049
%      0.1795    6.6364    0.0652   -2.5297    0.2575
%     -0.2340   14.2383    0.1084    3.0842    0.2325
%     -0.1878    7.8277    0.5582   -0.4261    0.4200];
   
% a = [0.0000   -0.0000    0.0000    0.0000    1.2711
%      0.1311    7.6461    0.0605   -3.2861    0.2922
%     -0.2190   14.5211    0.0749    4.0694    0.2290
%     -0.3065    8.9393    0.4359   -0.4442    0.5365];

a = access_A_matrix();

switch param_name
    case 'a'
        param = a;
    otherwise
        param = NaN;
end
